// Copyright 2008 Willow Garage, Inc.
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/** \author Wim Meeussen */

#include "tf2_bullet/tf2_bullet.hpp"
#include "rclcpp/rclcpp.hpp"
#include "gtest/gtest.h"
#include "tf2/convert.hpp"

TEST(TfBullet, ConvertVector)
{
  btVector3 v(1, 2, 3);

  btVector3 v1 = v;
  tf2::convert(v1, v1);

  EXPECT_EQ(v, v1);

  btVector3 v2(3, 4, 5);
  tf2::convert(v1, v2);

  EXPECT_EQ(v, v2);
  EXPECT_EQ(v1, v2);
}


int main(int argc, char ** argv)
{
  testing::InitGoogleTest(&argc, argv);

  int ret = RUN_ALL_TESTS();
  return ret;
}
